Do you want to be able to translate/rotate the object that grabs (e.g. hand model) and then limit movements to rotations once the grab event is triggered? Do you have a tracking system or is this a desktop simulation?

I'm looking to move a hand to a spot on an object and grab it, then rotate the object around a designated axis as i drag the hand around with the mouse (not necessarily rotating the hand, but definitely the object)

Trying to grab, say, a doorknob and have the door open and close a dynamic amount based on the mouse movement